Air vehicle, spraying route generation and execution methods and devices of air vehicle and control terminal

Abstract

The invention provides a spraying route generation method of an air vehicle. The method includes the following steps that image information of a target region is obtained, and a three-dimensional mapcontaining point cloud data is established according to the image information; according to the three-dimensional map, position information of all the targets in the target region and feature information of each target are determined; and according to the position information and the feature information of all the targets, an air vehicle spraying route is generated to indicate the air vehicle to conduct spraying operation. The method is used for solving the problem that the surveying and mapping cost of the spraying operation route is high in the prior art, surveying and mapping time is shortened, the surveying and mapping cost of the spraying route is reduced, and the efficiency of the air vehicle in plant protection operation is improved. The invention further provides the correspondingspraying route generation device of the air vehicle and a control terminal and further provides the corresponding air vehicle and the spraying route execution method and device of the air vehicle.

Description

technical field [0001] The present invention relates to the technical field of aircraft, in particular to an aircraft and its spraying route generation method and device, as well as a corresponding aircraft spraying route execution method and device, and also provides a corresponding control terminal. Background technique [0002] With the development of science and technology, aircraft such as unmanned aerial vehicles have been widely used in many fields such as agriculture, military, industry and other fields. With the maturity of the application of drones in the field of aerial plant protection, the demand for plant protection operations of economic crops is increasing. To realize the automatic spraying of pesticides on economic crops such as trees by using drones, it is necessary to obtain The geographical location, height, center point latitude and longitude and other data information of all crops in order to generate operation routes. In the prior art, the acquisition...

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Problems solved by technology

[0003] Based on the above problems, the present invention provides an aircraft and its spraying route generation method and device, as well as a corresponding aircraft spraying route execution method and device, and also provides a corresponding control terminal to solve the spraying route in the prior art. The problem of low surveying and mapping efficiency and high cost, reducing surveying and mapping time and reducing the cost of spraying route surveying and mapping, improving the efficiency of aircraft in plant protection operations

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